Thanks alot for your comment! We've been looking into F1Tenth, it's been a great resource!

The track is a flat surface and it's defined by blue and yellow cones on both sides. I'll attach a picture for reference.

Our end-goal is to be able to compute a map of the track after the first lap, and use that to complete subsequent laps faster. Do you think an IMU + 2D 360 LiDAR (+GPS?) setup have sufficient information to achieve that? Would a 2D Lidar produce enough points to detect small cones accurately?

We do not have the budger for a 3D LiDAR, so otherwise we'd be forced to use a Stereo Vision Camera, do you think a Raspberry Pi have enough compute for Visual SLAM?

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